CN115077521B - Inertial navigation system attitude decoupling method based on virtual frame carrier coordinate system - Google Patents

Inertial navigation system attitude decoupling method based on virtual frame carrier coordinate system Download PDF

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CN115077521B
CN115077521B CN202211003826.4A CN202211003826A CN115077521B CN 115077521 B CN115077521 B CN 115077521B CN 202211003826 A CN202211003826 A CN 202211003826A CN 115077521 B CN115077521 B CN 115077521B
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virtual
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carrier coordinate
angle
matrix
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CN115077521A (en
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胡小毛
赵小明
颜苗
翁海娜
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707th Research Institute of CSIC
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects

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Abstract

The invention belongs to the technical field of inertial navigation system application, and particularly relates to an inertial navigation system attitude decoupling method based on a virtual frame carrier coordinate system. The attitude decoupling method comprises the following steps of converting a platform carrier coordinate system into a virtual inner frame carrier coordinate system, converting the virtual inner frame carrier coordinate system into a virtual middle frame carrier coordinate system, converting the virtual middle frame carrier coordinate system into a virtual outer frame carrier coordinate system, converting the virtual outer frame carrier coordinate system into a ship carrier coordinate system, and acquiring a platform carrier coordinate system to ship carrier coordinate system attitude matrix through four-step conversion to realize attitude decoupling. The platform carrier coordinate system is decoupled to the ship carrier coordinate system by the virtual three-frame carrier coordinate system and simultaneously considering sine error items related to the axis pendulum error angle and the rotation angle, so that the high-precision attitude decoupling of the three-axis rotation type inertial navigation system is realized, and the three-axis rotation type inertial navigation system has higher engineering application value.

Description

Inertial navigation system attitude decoupling method based on virtual frame carrier coordinate system
Technical Field
The invention belongs to the technical field of application of inertial navigation systems, and particularly relates to an inertial navigation system attitude decoupling method based on a virtual frame carrier coordinate system.
Background
The carrier has angular motion of three-direction carriers in the moving process, the three-axis rotary inertial navigation system needs to completely isolate external angular motion in order to keep the table body stable in a navigation carrier coordinate system in a three-frame linkage mode, mutual coupling exists among three-direction axis pivot angle errors in the three-axis linkage process, the single-axis rotary inertial navigation system can assume that the directions of a virtual inner frame and the virtual middle frame of a motor carrier coordinate system are consistent with the horizontal direction of the table body carrier coordinate system in mathematical definition, so mutual coupling among the axis angle errors does not exist, non-orthogonality among three-frame motor sensitive axes of the three-axis rotary inertial navigation system is caused by processing and assembling, meanwhile, due to the influence of error factors such as a constant value and sine of the axis pivot angle errors in the rotating process, the three frames are coupled with each other in attitude decoupling, the same mathematical assumption as that of the single-axis rotary inertial navigation system cannot be adopted, and compensation of the axis pivot angle errors of the three-axis rotary inertial navigation system is more complicated than that of the single-axis/double-axis rotary inertial navigation system.
Aiming at the problems, the invention provides a high-precision attitude decoupling method of a three-axis rotary inertial navigation system based on a virtual frame carrier coordinate system, namely, the three-frame data in a non-coupling state is used for representing the attitude of the three-axis rotary inertial navigation system.
Disclosure of Invention
The invention provides a high-precision attitude decoupling method of a three-axis rotary type inertial navigation system based on a virtual frame carrier coordinate system, which aims to solve the problem of attitude decoupling and high-precision shaft pivot angle error compensation of the three-axis rotary type inertial navigation system in the prior art and realize high-precision attitude output of the three-axis rotary type inertial navigation system.
In order to solve the technical problems, the invention adopts the following technical scheme:
an inertial navigation system attitude decoupling method based on a virtual frame carrier coordinate system comprises the following steps:
s1, converting a platform carrier coordinate system to a virtual inner frame carrier coordinate system,
s2, converting the virtual inner frame carrier coordinate system into a virtual middle frame carrier coordinate system,
s3, converting the virtual middle frame carrier coordinate system into a virtual outer frame carrier coordinate system,
s4, converting the virtual outer frame carrier coordinate system into a ship carrier coordinate system,
and S5, sequentially completing the four-step conversion of S1, S2, S3 and S4 to obtain a posture matrix from the platform carrier coordinate system to the ship carrier coordinate system, and realizing posture decoupling.
The method comprises the following steps that S1, a table carrier coordinate system to a virtual inner frame carrier coordinate system is converted into an attitude matrix from the table carrier coordinate system to the virtual inner frame carrier coordinate system:
Figure 411724DEST_PATH_IMAGE001
wherein
Figure 860023DEST_PATH_IMAGE002
Is a matrix of the attitude of the table body,
Figure 311864DEST_PATH_IMAGE003
is a shaft swing angle error matrix from the platform body to the virtual inner frame,
Figure 238232DEST_PATH_IMAGE004
a virtual inner frame rotation matrix is created for each of the frames,
Figure 787025DEST_PATH_IMAGE005
is a matrix of sinusoidal yaw angle errors associated with the rotation of the virtual inner frame,
Figure 281591DEST_PATH_IMAGE006
,
Figure 283045DEST_PATH_IMAGE007
，
Figure 13104DEST_PATH_IMAGE008
，
Figure 852622DEST_PATH_IMAGE009
in the above formula
Figure 580406DEST_PATH_IMAGE010
、
Figure 131473DEST_PATH_IMAGE011
、
Figure 602906DEST_PATH_IMAGE012
Respectively a roll angle, a longitudinal roll angle and a course angle of the table body,
Figure 798395DEST_PATH_IMAGE013
the angle is the rotating angle of the virtual inner frame shaft,
Figure 759398DEST_PATH_IMAGE014
、
Figure 735444DEST_PATH_IMAGE015
a constant value error of the swing angle of the virtual inner frame shaft is obtained;
Figure 682672DEST_PATH_IMAGE016
、
Figure 60563DEST_PATH_IMAGE017
the amplitude of the sine term axis swing angle error related to the rotation angle of the virtual inner frame,
Figure 192467DEST_PATH_IMAGE018
、
Figure 327914DEST_PATH_IMAGE019
is an angle coefficient value of a sine term yaw angle in relation to a virtual inner frame rotation angle,
Figure 141149DEST_PATH_IMAGE020
、
Figure 435864DEST_PATH_IMAGE021
and the initial phase of the axis swing angle of the sine term related to the rotation angle of the virtual inner frame is obtained.
The step S2 is that the virtual inner frame carrier coordinate system to the virtual middle frame carrier coordinate system is converted into a virtual inner frame carrier coordinate system to a virtual middle frame carrier coordinate system attitude matrix:
Figure 941932DEST_PATH_IMAGE022
wherein
Figure 803489DEST_PATH_IMAGE023
A virtual inner frame carrier coordinate system to a shaft swing angle error matrix of a virtual middle frame,
Figure 482732DEST_PATH_IMAGE024
in order to be a virtual middle frame rotation matrix,
Figure 569637DEST_PATH_IMAGE025
is a sine-axis pivot angle error matrix associated with the rotation of the virtual middle frame,
Figure 184289DEST_PATH_IMAGE026
，
Figure 356644DEST_PATH_IMAGE027
，
Figure 573999DEST_PATH_IMAGE029
in the above formula
Figure 453093DEST_PATH_IMAGE030
The angle is the rotation angle of the virtual middle frame shaft,
Figure 300964DEST_PATH_IMAGE031
、
Figure 22932DEST_PATH_IMAGE032
the error is a constant value error of the swing angle of the virtual middle frame shaft;
Figure 653765DEST_PATH_IMAGE033
、
Figure 449682DEST_PATH_IMAGE034
the amplitude of the axis pendulum error of the sine term related to the rotation angle of the virtual middle frame,
Figure 530771DEST_PATH_IMAGE035
、
Figure 677718DEST_PATH_IMAGE036
an angle coefficient value of the sine term yaw angle in relation to the virtual middle frame rotation angle,
Figure 876356DEST_PATH_IMAGE037
、
Figure 792360DEST_PATH_IMAGE038
the initial phase of the axis swing angle of the sine term related to the rotation angle of the virtual middle frame.
And S3, converting the virtual middle frame carrier coordinate system to the virtual outer frame carrier coordinate system into a posture matrix of the virtual middle frame carrier coordinate system to the virtual outer frame carrier coordinate system:
Figure 513191DEST_PATH_IMAGE039
wherein
Figure 85118DEST_PATH_IMAGE040
Is a shaft pivot angle error matrix from a virtual middle frame carrier coordinate system to a virtual outer frame,
Figure 182387DEST_PATH_IMAGE041
a rotation matrix for the virtual outer frame,
Figure 218476DEST_PATH_IMAGE042
is a sine shaft swing angle error matrix related to the virtual outer frame rotation,
Figure 251154DEST_PATH_IMAGE043
，
Figure 372694DEST_PATH_IMAGE044
，
Figure 539233DEST_PATH_IMAGE045
in the above formula
Figure 164249DEST_PATH_IMAGE046
The angle is the rotation angle of the virtual outer frame shaft,
Figure 367829DEST_PATH_IMAGE047
、
Figure 773402DEST_PATH_IMAGE048
the error is a constant value of the swing angle of the virtual outer frame shaft;
Figure 681315DEST_PATH_IMAGE049
、
Figure 862636DEST_PATH_IMAGE050
the amplitude of the sine term axis swing angle error related to the virtual outer frame rotation angle,
Figure 361750DEST_PATH_IMAGE051
、
Figure 192303DEST_PATH_IMAGE052
an angle coefficient value of the pivot angle of the sine term in relation to the rotation angle of the virtual housing,
Figure 576011DEST_PATH_IMAGE053
、
Figure 175620DEST_PATH_IMAGE054
the initial phase of the axis swing angle of the sine term related to the rotation angle of the virtual outer frame is used.
And S4, converting the virtual outer frame carrier coordinate system to the ship carrier coordinate system into a virtual outer frame carrier coordinate system to a ship carrier coordinate system attitude matrix:
Figure 111215DEST_PATH_IMAGE055
when the virtual outer frame carrier coordinate system is not coincident with the ship carrier coordinate system, calculating the attitude zero position of the ship relative to the inertial navigation system through calibration or measurement:
Figure 101167DEST_PATH_IMAGE056
indicating a zero position of a roll angle,
Figure 85304DEST_PATH_IMAGE057
Indicating pitch angle zero sum
Figure 867315DEST_PATH_IMAGE058
Indicating a null of the heading angle.
Wherein, in the step 5, the transformation matrix from the platform carrier coordinate system to the ship carrier coordinate system is as follows:
Figure 583598DEST_PATH_IMAGE059
。
the invention has the beneficial effects that:
the invention provides a three-axis rotation type inertial navigation system attitude decoupling method, which is characterized in that a platform carrier coordinate system is decoupled to a ship carrier coordinate system by a virtual three-frame carrier coordinate system and simultaneously considering sine error items related to an axis pendulum error angle and a rotation angle, so that the three-axis rotation type inertial navigation system high-precision attitude decoupling is realized, and the three-axis rotation type inertial navigation system attitude decoupling method has higher engineering application value.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the present invention will be further described in detail with reference to the preferred embodiments.
Ideally, the ship carrier attitude matrix can be generally expressed as:
Figure 388743DEST_PATH_IMAGE060
(1)
Figure 238888DEST_PATH_IMAGE061
is a matrix of the posture of the table body,
Figure 983727DEST_PATH_IMAGE004
a transformation matrix from the virtual inner frame carrier coordinate system to the initial virtual inner frame carrier coordinate system,
Figure 198808DEST_PATH_IMAGE024
is a transformation matrix from the virtual inner frame carrier coordinate system to the initial virtual inner frame carrier coordinate system,
Figure 287987DEST_PATH_IMAGE062
is a conversion matrix from the virtual outline carrier coordinate system to the initial virtual outline carrier coordinate system,
Figure 879505DEST_PATH_IMAGE063
is a ship carrier attitude matrix.
The method for compensating the shaft swing angle error of the three-shaft rotary type inertial navigation system sequentially comprises the following steps: compensating from the platform carrier coordinate system to the virtual inner frame carrier coordinate system, compensating from the virtual inner frame carrier coordinate system to the virtual middle frame carrier coordinate system, compensating from the virtual middle frame carrier coordinate system to the virtual outer frame carrier coordinate system, and compensating from the virtual outer frame carrier coordinate system to the ship carrier coordinate system.
And naval vessel carrier attitude matrix loops through platform body carrier coordinate system to virtual inner frame carrier coordinate system conversion, and virtual inner frame carrier coordinate system to virtual center frame carrier coordinate system conversion, virtual center frame carrier coordinate system to virtual outer frame carrier coordinate system conversion, and virtual outer frame carrier coordinate system to naval vessel carrier coordinate system conversion specifically is:
1, converting the platform carrier coordinate system to the virtual inner frame carrier coordinate system
Figure 245896DEST_PATH_IMAGE064
Is a table body attitude matrix, due to the influence of the shaft swing angle error,
Figure 428615DEST_PATH_IMAGE003
is a shaft swing angle error matrix from the platform body to the virtual inner frame,
Figure 208352DEST_PATH_IMAGE004
a virtual inner frame rotation matrix is formed,
Figure 10086DEST_PATH_IMAGE005
for the sine associated with the rotation of the virtual inner frameThe product of the pivot angle error matrix and the pivot angle error matrix can obtain an attitude matrix from the platform carrier coordinate system to the virtual inner frame carrier coordinate system
Figure 355617DEST_PATH_IMAGE065
The method specifically comprises the following steps:
Figure 178079DEST_PATH_IMAGE001
(2)
wherein
Figure 117217DEST_PATH_IMAGE066
,
Figure 50538DEST_PATH_IMAGE067
，
Figure 250575DEST_PATH_IMAGE068
,
Figure 243939DEST_PATH_IMAGE069
In the above formula
Figure 897468DEST_PATH_IMAGE010
、
Figure 431218DEST_PATH_IMAGE011
、
Figure 689024DEST_PATH_IMAGE012
Respectively a roll angle, a longitudinal roll angle and a course angle of the table body,
Figure 525393DEST_PATH_IMAGE013
the angle is the rotating angle of the virtual inner frame shaft,
Figure 298177DEST_PATH_IMAGE014
、
Figure 573300DEST_PATH_IMAGE015
the error is a constant value error of the swing angle of the virtual inner frame shaft;
Figure 888875DEST_PATH_IMAGE016
、
Figure 755200DEST_PATH_IMAGE017
the amplitude of the sine term axis swing angle error related to the rotation angle of the virtual inner frame,
Figure 218542DEST_PATH_IMAGE018
、
Figure 969461DEST_PATH_IMAGE019
an angle coefficient value of the sine term yaw angle in relation to the virtual inner frame rotation angle,
Figure 201859DEST_PATH_IMAGE020
、
Figure 504664DEST_PATH_IMAGE021
and the initial phase of the axis swing angle of the sine term related to the rotation angle of the virtual inner frame is obtained.
2, converting the virtual inner frame carrier coordinate system to the virtual middle frame carrier coordinate system
Due to the influence of the pivot angle error of the shaft,
Figure 625942DEST_PATH_IMAGE070
a virtual inner frame carrier coordinate system to a shaft swing angle error matrix of a virtual middle frame,
Figure 242868DEST_PATH_IMAGE024
in order to be a virtual middle frame rotation matrix,
Figure 392090DEST_PATH_IMAGE071
the matrix is a sine shaft swing angle error matrix related to the rotation of the virtual middle frame, and the attitude matrix from the virtual inner frame carrier coordinate system to the virtual middle frame carrier coordinate system can be obtained by the product of the three
Figure 69059DEST_PATH_IMAGE072
The method specifically comprises the following steps:
Figure 179097DEST_PATH_IMAGE022
(3)
wherein
Figure 130872DEST_PATH_IMAGE073
，
Figure 337863DEST_PATH_IMAGE074
，
Figure 857837DEST_PATH_IMAGE076
In the above formula
Figure 517489DEST_PATH_IMAGE077
The angle is the rotation angle of the virtual middle frame shaft,
Figure 538534DEST_PATH_IMAGE031
、
Figure 600031DEST_PATH_IMAGE078
the error is a constant value error of the swing angle of the virtual middle frame shaft;
Figure 556486DEST_PATH_IMAGE033
、
Figure 703433DEST_PATH_IMAGE079
the amplitude of the axis pendulum error of the sine term related to the rotation angle of the virtual middle frame,
Figure 997011DEST_PATH_IMAGE035
、
Figure 349233DEST_PATH_IMAGE080
an angle coefficient value of the sine term yaw angle in relation to the virtual middle frame rotation angle,
Figure 538906DEST_PATH_IMAGE081
、
Figure 235467DEST_PATH_IMAGE038
the initial phase of the axis swing angle of the sine term related to the rotation angle of the virtual middle frame.
3, converting the virtual middle frame carrier coordinate system to the virtual outer frame carrier coordinate system
Due to the influence of the pivot angle error of the shaft,
Figure 535998DEST_PATH_IMAGE082
is a shaft swing angle error matrix from the virtual middle frame carrier coordinate system to the virtual outer frame,
Figure 244191DEST_PATH_IMAGE062
to be a virtual outline rotation matrix,
Figure 401503DEST_PATH_IMAGE083
the matrix is a sine shaft swing angle error matrix related to the rotation of the virtual outer frame, and the attitude matrix from the virtual middle frame carrier coordinate system to the virtual outer frame carrier coordinate system can be obtained by the product of the three
Figure 523043DEST_PATH_IMAGE084
The method specifically comprises the following steps:
Figure 299369DEST_PATH_IMAGE039
(4)
wherein
Figure 189964DEST_PATH_IMAGE085
，
Figure 783757DEST_PATH_IMAGE086
，
Figure 799117DEST_PATH_IMAGE087
In the above formula
Figure 707030DEST_PATH_IMAGE088
The angle is the rotating angle of the virtual outer frame shaft,
Figure 514449DEST_PATH_IMAGE047
、
Figure 216826DEST_PATH_IMAGE048
the error is a constant value of the swing angle of the virtual outer frame shaft;
Figure 218018DEST_PATH_IMAGE049
、
Figure 460780DEST_PATH_IMAGE050
the amplitude of the sine term axis swing angle error related to the virtual outer frame rotation angle,
Figure 325968DEST_PATH_IMAGE051
、
Figure 136929DEST_PATH_IMAGE089
an angle coefficient value of the pivot angle of the sine term in relation to the rotation angle of the virtual housing,
Figure 454778DEST_PATH_IMAGE053
、
Figure 235652DEST_PATH_IMAGE054
the initial phase of the axis swing angle of the sine term related to the rotation angle of the virtual outer frame.
4. Conversion from virtual outer frame carrier coordinate system to ship carrier coordinate system
Figure 893030DEST_PATH_IMAGE090
The matrix is a conversion matrix from a virtual outer frame carrier coordinate system to a ship carrier coordinate system and can also be called as an attitude zero matrix. When the virtual outer frame carrier coordinate system is not coincident with the ship carrier coordinate system, the ship posture relative to the inertial navigation system is calculated through calibration or measurementState zero position:
Figure 937209DEST_PATH_IMAGE091
represents the zero position of the roll angle,
Figure 804671DEST_PATH_IMAGE092
Indicating pitch angle null sum
Figure 592499DEST_PATH_IMAGE058
Indicates the zero position of the course angle, at this time
Figure 104382DEST_PATH_IMAGE093
(5)
Generally, only when the attitude of the inertial navigation system is considered, the attitude of the inertial navigation system can be considered
Figure 319463DEST_PATH_IMAGE094
Set as the identity matrix.
5. Conversion from platform carrier coordinate system to ship carrier coordinate system
The ship carrier attitude matrix obtained by the four steps is as follows:
Figure 143063DEST_PATH_IMAGE095
(6)
the attitude of the three-axis rotary inertial navigation system can be decoupled through the formula. And realizing the representation of the three-axis rotary inertial navigation system attitude by using the three-frame data in the non-coupling state. Through the virtual three-frame carrier coordinate system, sine error items related to the shaft pendulum error angle and the rotation angle are considered at the same time, a conversion matrix from the platform carrier coordinate system to the ship carrier coordinate system is obtained, high-precision attitude decoupling of the three-axis rotation type inertial navigation system is achieved, and the three-axis rotation type inertial navigation system has high engineering application value.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims (3)

1. An inertial navigation system attitude decoupling method based on a virtual frame carrier coordinate system is characterized by comprising the following steps:
s1, converting a platform carrier coordinate system into a virtual inner frame carrier coordinate system, wherein an attitude matrix of the virtual inner frame carrier coordinate system is as follows:
Figure 853668DEST_PATH_IMAGE001
，
Figure 247740DEST_PATH_IMAGE002
is a matrix of the posture of the table body,
Figure 193087DEST_PATH_IMAGE003
is a shaft swing angle error matrix from the platform body to the virtual inner frame,
Figure 723425DEST_PATH_IMAGE004
a virtual inner frame rotation matrix is created for each of the frames,
Figure 742197DEST_PATH_IMAGE005
is a sine shaft swing angle error matrix related to the rotation of the virtual inner frame,
Figure 623565DEST_PATH_IMAGE006
，
Figure 385985DEST_PATH_IMAGE007
，
Figure 285676DEST_PATH_IMAGE008
，
Figure 209770DEST_PATH_IMAGE009
in the above formula
Figure 578435DEST_PATH_IMAGE010
、
Figure 613387DEST_PATH_IMAGE011
、
Figure 649476DEST_PATH_IMAGE012
Respectively a roll angle, a longitudinal roll angle and a course angle of the table body,
Figure 728159DEST_PATH_IMAGE013
the angle is the rotating angle of the virtual inner frame shaft,
Figure 23268DEST_PATH_IMAGE014
、
Figure 111178DEST_PATH_IMAGE015
the error is a constant value error of the swing angle of the virtual inner frame shaft;
Figure 736195DEST_PATH_IMAGE016
、
Figure 2091DEST_PATH_IMAGE017
the amplitude of the sine term axis swing angle error related to the rotation angle of the virtual inner frame,
Figure 345347DEST_PATH_IMAGE018
、
Figure 987681DEST_PATH_IMAGE019
an angle coefficient value of the sine term yaw angle in relation to the virtual inner frame rotation angle,
Figure 731120DEST_PATH_IMAGE020
、
Figure 433497DEST_PATH_IMAGE021
is the initial phase of the axis swing angle of the sine term related to the rotation angle of the virtual inner frame,
s2, converting a virtual inner frame carrier coordinate system into a virtual middle frame carrier coordinate system, wherein the posture matrix of the virtual inner frame carrier coordinate system into the virtual middle frame carrier coordinate system is as follows:
Figure 998471DEST_PATH_IMAGE022
，
Figure 444495DEST_PATH_IMAGE023
a virtual inner frame carrier coordinate system to a shaft swing angle error matrix of a virtual middle frame,
Figure 778525DEST_PATH_IMAGE024
in order to be a virtual middle frame rotation matrix,
Figure 901070DEST_PATH_IMAGE025
is a sine-axis pivot angle error matrix associated with the rotation of the virtual middle frame,
Figure 953340DEST_PATH_IMAGE026
，
Figure 671897DEST_PATH_IMAGE027
，
Figure 126013DEST_PATH_IMAGE028
in the above formula
Figure 170192DEST_PATH_IMAGE029
The angle is the rotation angle of the virtual middle frame shaft,
Figure 959025DEST_PATH_IMAGE030
、
Figure 746853DEST_PATH_IMAGE031
the error is a constant value error of the swing angle of the virtual middle frame shaft;
Figure 55474DEST_PATH_IMAGE032
、
Figure 4976DEST_PATH_IMAGE033
the amplitude of the axis pendulum error of the sine term related to the rotation angle of the virtual middle frame,
Figure 31838DEST_PATH_IMAGE034
、
Figure 607044DEST_PATH_IMAGE035
an angle coefficient value of the sine term yaw angle in relation to the virtual middle frame rotation angle,
Figure 35752DEST_PATH_IMAGE036
、
Figure 156154DEST_PATH_IMAGE037
is the initial phase of the sine term shaft swing angle related to the virtual middle frame rotation angle,
s3, converting the virtual middle frame carrier coordinate system into a virtual outer frame carrier coordinate system, wherein the posture matrix of the virtual middle frame carrier coordinate system into the virtual outer frame carrier coordinate system is as follows:
Figure 935891DEST_PATH_IMAGE038
，
Figure 799942DEST_PATH_IMAGE039
is a shaft pivot angle error matrix from a virtual middle frame carrier coordinate system to a virtual outer frame,
Figure 69774DEST_PATH_IMAGE040
to be a virtual outline rotation matrix,
Figure 626657DEST_PATH_IMAGE041
for the sine-axis pivot angle error matrix associated with the virtual frame rotation,
Figure 628111DEST_PATH_IMAGE042
，
Figure 295853DEST_PATH_IMAGE043
，
Figure 433573DEST_PATH_IMAGE044
in the above formula
Figure 410626DEST_PATH_IMAGE045
The angle is the rotation angle of the virtual outer frame shaft,
Figure 899376DEST_PATH_IMAGE046
、
Figure 105229DEST_PATH_IMAGE047
the error is a constant value of the swing angle of the virtual outer frame shaft;
Figure 97456DEST_PATH_IMAGE048
、
Figure 261721DEST_PATH_IMAGE049
the amplitude of the sine term shaft swing angle error related to the virtual outer frame rotation angle,
Figure 955876DEST_PATH_IMAGE050
、
Figure 699841DEST_PATH_IMAGE051
an angle coefficient value of the pivot angle of the sine term in relation to the rotation angle of the virtual housing,
Figure 812154DEST_PATH_IMAGE052
、
Figure 881741DEST_PATH_IMAGE053
the initial phase of the axis swing angle of the sine term related to the rotation angle of the virtual outer frame,
s4, converting the virtual outer frame carrier coordinate system into a ship carrier coordinate system,
and S5, sequentially completing the four-step conversion of S1, S2, S3 and S4 to obtain a posture matrix from the platform carrier coordinate system to the ship carrier coordinate system, and realizing posture decoupling.
2. The inertial navigation system attitude decoupling method based on the virtual frame carrier coordinate system of claim 1, wherein the virtual outline carrier coordinate system to the ship carrier coordinate system is converted into a virtual outline carrier coordinate system to a ship carrier coordinate system attitude matrix in step S4:
Figure 328772DEST_PATH_IMAGE054
when the virtual outer frame carrier coordinate system is not coincident with the ship carrier coordinate system, calculating the attitude zero position of the ship relative to the inertial navigation system through calibration or measurement:
Figure 142007DEST_PATH_IMAGE055
represents the zero position of the roll angle,
Figure 108826DEST_PATH_IMAGE056
Indicating pitch angle zero sum
Figure 349315DEST_PATH_IMAGE057
Indicating a null of the heading angle.
3. The inertial navigation system attitude decoupling method based on the virtual frame carrier coordinate system according to claim 2, wherein a conversion matrix from the platform carrier coordinate system to the ship carrier coordinate system in step 5 is:
Figure 34374DEST_PATH_IMAGE058
。
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